| { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "steps": { | |
| "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset", | |
| "sequence": { | |
| "feature": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "observation": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "proprio": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot state, consists of [robot0_eef_pos, robot0_eef_euler, robot0_gripper_qpos[0]]." | |
| }, | |
| "image_wrist": { | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", | |
| "image": { | |
| "shape": { | |
| "dimensions": [ | |
| "180", | |
| "320", | |
| "3" | |
| ] | |
| }, | |
| "dtype": "uint8", | |
| "encodingFormat": "png" | |
| }, | |
| "description": "Wrist camera RGB observation." | |
| }, | |
| "timestep": { | |
| "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", | |
| "tensor": { | |
| "shape": {}, | |
| "dtype": "int32", | |
| "encoding": "none" | |
| }, | |
| "description": "Timestep of the episode." | |
| }, | |
| "image_primary": { | |
| "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", | |
| "image": { | |
| "shape": { | |
| "dimensions": [ | |
| "180", | |
| "320", | |
| "3" | |
| ] | |
| }, | |
| "dtype": "uint8", | |
| "encodingFormat": "png" | |
| }, | |
| "description": "Main camera RGB observation." | |
| } | |
| } | |
| } | |
| }, | |
| "action": { | |
| "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", | |
| "tensor": { | |
| "shape": { | |
| "dimensions": [ | |
| "7" | |
| ] | |
| }, | |
| "dtype": "float32", | |
| "encoding": "none" | |
| }, | |
| "description": "Robot action, consists of [x, y, z, ax, ay, az, gripper]." | |
| }, | |
| "dataset_name": { | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {}, | |
| "description": "Language Instruction." | |
| }, | |
| "task": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "language_instruction": { | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {}, | |
| "description": "Language Instruction." | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "length": "-1" | |
| } | |
| }, | |
| "episode_metadata": { | |
| "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", | |
| "featuresDict": { | |
| "features": { | |
| "file_path": { | |
| "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", | |
| "text": {}, | |
| "description": "Path to the original data file." | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } | |
| } |